version: 66.04
glider: 5
mission: 5
dive: 131
start: 11 29 108 18 40 3
data:
$ID,5
$MISSION,5
$DIVE,131
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-89795.383
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.610077
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,183202,6126.607,-306.592,42,1.4,42,-6.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.0
$GPS2,183909,6126.620,-306.697,12,1.0,12,-6.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.212,-0.065
$KALMAN_X,79834.6,-792.8,-893.0,67624.7,4622.1
$KALMAN_Y,-23945.2,-285.9,-568.2,-222717.2,2351.2
$MHEAD_RNG_PITCHd_Wd,259.0,31335,-11.0,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,118,0.00,0.00,-96.80,0.000,6,0.000,0.000,424,1981,3429
$GC,121,-0.97,-146.6,6.0,-5.6,5,137,10.55,2.60,0.00,0.000,4,0.133,0.058,2483,3416,3430
$GC,380,-0.76,-146.6,42.5,-9.7,15,387,0.22,2.50,0.00,0.000,6,0.087,0.048,2531,2006,3430
$GC,696,-0.67,-146.6,69.8,-9.6,31,698,0.10,0.00,0.00,0.000,6,0.096,0.000,2552,2005,3430
$GC,1005,-0.67,-146.6,92.6,-7.4,46,1009,0.00,2.53,0.00,0.000,4,0.000,0.064,2552,597,3430
$GC,1032,-0.67,-146.6,94.8,-8.0,47,1037,0.00,2.50,0.00,0.000,6,0.000,0.050,2552,2008,3430
$GC,1348,-0.67,-146.6,117.7,-6.9,62,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2008,3430
$GC,1658,-0.67,-146.6,145.2,-8.1,77,1662,0.00,2.50,0.00,0.000,4,0.000,0.062,2552,3407,3430
$GC,1691,-0.67,-146.6,147.9,-7.9,78,1697,0.00,2.53,0.00,0.000,6,0.000,0.049,2552,1985,3430
$GC,2006,-0.67,-146.6,172.1,-7.3,94,2011,0.00,2.58,0.00,0.000,4,0.000,0.060,2552,3409,3430
$GC,2047,-0.67,-146.6,175.6,-9.3,96,2051,0.00,2.53,0.00,0.000,6,0.000,0.051,2552,1991,3430
$GC,2373,-0.67,-146.6,205.5,-9.1,112,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1990,3430
$GC,2682,-0.67,-146.6,233.3,-9.0,127,2686,0.00,2.58,0.00,0.000,4,0.000,0.060,2552,3412,3430
$GC,2732,-0.67,-146.6,237.7,-8.0,129,2736,0.00,2.53,0.00,0.000,6,0.000,0.049,2552,1989,3430
$GC,3048,-0.67,-146.6,263.3,-8.1,144,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1989,3430
$GC,3357,-0.67,-146.6,285.9,-6.8,159,3361,0.00,2.58,0.00,0.000,4,0.000,0.061,2552,3409,3430
$GC,3407,-0.67,-146.6,289.6,-7.4,161,3411,0.00,2.53,0.00,0.000,6,0.000,0.050,2552,1989,3430
$GC,3723,-0.67,-146.6,311.0,-6.8,176,3727,0.00,2.58,0.00,0.000,4,0.000,0.061,2552,3408,3430
$GC,3756,-0.67,-146.6,313.4,-7.3,177,3762,0.00,2.50,0.00,0.000,6,0.000,0.050,2552,2001,3430
$GC,4071,-0.67,-146.6,336.4,-7.6,193,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2001,3430
$GC,4381,-0.67,-146.6,359.4,-7.3,208,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2000,3430
$GC,4690,-0.67,-146.6,381.6,-7.3,223,4694,0.00,2.55,0.00,0.000,4,0.000,0.063,2552,3405,3430
$GC,4734,-0.67,-146.6,385.0,-7.5,225,4738,0.00,2.50,0.00,0.000,6,0.000,0.051,2551,1999,3430
$GC,5055,-0.67,-146.6,408.0,-7.3,241,5060,0.00,2.58,0.00,0.000,4,0.000,0.063,2552,3413,3430
$GC,5088,-0.67,-146.6,410.5,-6.9,242,5095,0.00,2.50,0.00,0.000,6,0.000,0.052,2552,2011,3430
$GC,5404,-0.67,-146.6,431.8,-6.6,258,5409,0.00,2.53,0.00,0.000,4,0.000,0.064,2552,3405,3430
$GC,5431,-0.67,-146.6,433.6,-6.5,259,5436,0.00,2.47,0.00,0.000,6,0.000,0.052,2552,2017,3430
$GC,5747,-0.67,-146.6,455.4,-7.1,274,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2017,3430
$GC,6056,-0.67,-146.6,478.5,-7.6,289,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2017,3429
$GC,6366,-0.67,-146.6,502.4,-7.7,304,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2017,3429
$GC,6675,-0.67,-146.6,524.4,-6.5,319,6679,0.00,2.53,0.00,0.000,4,0.000,0.064,2552,3410,3429
$GC,6737,-0.67,-146.6,528.6,-6.6,322,6741,0.00,2.47,0.00,0.000,6,0.000,0.054,2552,2028,3429
$GC,7063,-0.67,-146.6,549.4,-6.5,338,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2027,3429
$GC,7372,-0.67,-146.6,569.9,-6.4,353,7376,0.00,2.53,0.00,0.000,4,0.000,0.067,2552,3405,3429
$GC,7473,-0.67,-146.6,577.0,-7.3,357,7479,0.00,2.45,0.00,0.000,6,0.000,0.057,2552,2044,3429
$GC,7789,-0.67,-146.6,595.4,-5.8,373,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2044,3428
$GC,8098,-0.67,-146.6,612.7,-5.8,388,8102,0.00,2.62,0.00,0.000,4,0.000,0.074,2552,597,3428
$GC,8148,-0.67,-146.6,615.9,-6.9,390,8152,0.00,2.60,0.00,0.000,6,0.000,0.060,2552,2045,3427
$GC,8464,-0.67,-146.6,635.8,-6.5,405,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2045,3427
$GC,8773,-0.67,-146.6,656.3,-6.8,420,8777,0.00,2.70,0.00,0.000,4,0.000,0.077,2552,591,3426
$GC,8823,-0.67,-146.6,660.3,-9.1,422,8827,0.00,2.62,0.00,0.000,6,0.000,0.064,2552,2041,3426
$GC,9138,-0.67,-146.6,683.3,-7.3,437,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2041,3425
$GC,9448,-0.71,-146.6,705.9,-7.3,452,9452,0.00,2.72,0.00,0.000,4,0.000,0.084,2552,591,3424
$GC,9481,-0.71,-146.6,708.5,-8.0,453,9487,0.00,2.62,0.00,0.000,6,0.000,0.067,2552,2028,3424
$GC,9796,-0.71,-146.6,729.1,-6.2,469,9801,0.00,2.58,0.00,0.000,4,0.000,0.083,2552,3416,3423
$GC,9837,-0.75,-146.6,731.6,-7.0,471,9842,0.00,2.55,0.00,0.000,6,0.000,0.071,2552,2034,3422
$GC,10166,-0.79,-146.6,750.2,-5.6,487,10171,0.12,2.67,0.00,0.000,4,0.068,0.084,2519,587,3421
$GC,10199,-0.73,-146.6,752.6,-7.8,488,10206,0.00,2.65,0.00,0.000,6,0.000,0.071,2519,2028,3421
$GC,10516,-0.68,-146.6,775.0,-7.0,504,10518,0.15,0.00,0.00,0.000,6,0.100,0.000,2551,2029,3420
$GC,10825,-0.68,-146.6,793.0,-5.8,519,10826,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3419
$GC,11134,-0.72,-146.6,813.1,-6.7,534,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2028,3418
$GC,11444,-0.77,-146.6,834.9,-7.0,549,11445,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2029,3417
$GC,11753,-0.82,-146.6,856.0,-6.5,564,11754,0.12,0.00,0.00,0.000,6,0.071,0.000,2519,2029,3416
$GC,12062,-0.77,-146.6,879.1,-7.7,579,12063,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2029,3414
$GC,12371,-0.77,-146.6,902.8,-7.5,594,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2029,3413
$GC,12682,-0.77,-146.6,926.4,-7.8,609,12687,0.00,2.75,0.00,0.000,4,0.000,0.095,2518,593,3412
$GC,12716,-0.72,-146.6,929.3,-8.3,610,12723,0.10,2.65,0.00,0.000,6,0.111,0.077,2539,2021,3412
$GC,13033,-0.72,-146.6,951.5,-6.9,626,13034,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2022,3412
$GC,13342,-0.72,-146.6,972.6,-6.8,641,13343,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2022,3411
$STATE,13627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13627,begin apogee
$GC,13634,-0.33,0.0,990.9,6.3,655,13761,0.43,0.00,123.75,1.646,6,0.092,0.000,2626,2250,2832
$STATE,13762,end apogee,CONTROL_FINISHED_OK
$STATE,13762,begin climb
$GC,13765,0.97,146.6,995.2,0.0,661,13896,1.35,0.00,126.18,1.601,6,0.086,0.000,2906,2250,2234
$GC,14199,1.00,164.5,974.3,5.5,682,14221,0.00,2.80,16.88,1.475,4,0.000,0.091,2906,3654,2161
$GC,14360,0.94,164.5,964.6,6.2,689,14364,0.00,2.67,0.00,0.000,6,0.000,0.077,2906,2244,2161
$GC,14687,0.98,185.8,946.8,5.4,705,14712,0.00,2.78,19.75,1.510,4,0.000,0.091,2906,846,2074
$GC,14786,1.00,199.9,940.6,5.6,709,14806,0.00,2.65,13.77,1.458,6,0.000,0.076,2906,2240,2017
$GC,15129,1.00,199.9,919.5,6.3,726,15133,0.00,2.72,0.00,0.000,4,0.000,0.091,2906,839,2016
$GC,15184,1.01,204.2,915.8,5.9,728,15195,0.00,2.65,5.35,1.188,6,0.000,0.077,2907,2236,1999
$GC,15516,1.01,204.2,895.2,6.2,745,15521,0.00,2.72,0.00,0.000,4,0.000,0.091,2907,835,1998
$GC,15566,1.01,204.2,891.6,7.1,747,15571,0.00,2.62,0.00,0.000,6,0.000,0.076,2907,2221,1998
$GC,15882,1.01,204.2,871.4,6.6,762,15886,0.00,2.67,0.00,0.000,4,0.000,0.091,2906,838,1997
$GC,15921,1.01,204.2,868.6,7.2,764,15926,0.00,2.58,0.00,0.000,6,0.000,0.076,2907,2212,1998
$GC,16249,1.01,204.2,847.7,6.5,780,16253,0.00,2.65,0.00,0.000,4,0.000,0.091,2906,841,1997
$GC,16276,1.01,204.2,845.7,7.3,781,16280,0.00,2.55,0.00,0.000,6,0.000,0.075,2906,2198,1997
$GC,16592,1.01,204.2,825.5,6.4,796,16596,0.00,2.62,0.00,0.000,4,0.000,0.092,2906,834,1998
$GC,16642,1.01,204.2,822.0,6.3,798,16646,0.00,2.55,0.00,0.000,6,0.000,0.075,2907,2187,1997
$GC,16957,1.01,204.2,801.9,6.3,813,16959,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2187,1997
$GC,17267,1.01,204.2,781.9,6.4,828,17271,0.00,2.60,0.00,0.000,4,0.000,0.091,2907,840,1997
$GC,17322,1.01,204.2,777.7,7.9,830,17328,0.00,2.53,0.00,0.000,6,0.000,0.075,2907,2184,1997
$GC,17638,1.01,204.2,756.1,7.0,846,17643,0.00,2.60,0.00,0.000,4,0.000,0.090,2906,835,1997
$GC,17666,1.01,204.2,754.0,6.9,847,17670,0.00,2.53,0.00,0.000,6,0.000,0.075,2907,2178,1996
$GC,17982,1.01,204.2,732.5,6.5,862,17986,0.00,2.58,0.00,0.000,4,0.000,0.090,2906,841,1996
$GC,18021,1.01,204.2,729.6,8.3,864,18025,0.00,2.47,0.00,0.000,6,0.000,0.074,2907,2165,1996
$GC,18347,1.01,204.2,708.2,6.7,880,18349,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2164,1996
$GC,18657,1.01,204.2,688.7,6.2,895,18661,0.00,2.55,0.00,0.000,4,0.000,0.088,2906,835,1996
$GC,18696,1.01,204.2,685.9,7.4,897,18701,0.00,2.47,0.00,0.000,6,0.000,0.074,2907,2157,1996
$GC,19023,1.03,217.5,666.6,5.6,913,19042,0.00,0.00,12.60,1.355,6,0.000,0.000,2907,2158,1945
$GC,19353,1.04,226.7,647.3,5.7,929,19367,0.00,2.60,9.52,1.295,4,0.000,0.087,2907,833,1907
$GC,19401,1.04,226.7,644.0,7.2,930,19405,0.00,2.50,0.00,0.000,6,0.000,0.072,2907,2156,1907
$GC,19717,1.04,226.7,625.0,6.2,945,19718,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2156,1907
$GC,20026,1.04,226.7,604.9,6.7,960,20030,0.00,2.50,0.00,0.000,4,0.000,0.084,2907,839,1907
$GC,20088,1.04,226.7,600.3,6.8,963,20092,0.00,2.42,0.00,0.000,6,0.000,0.070,2907,2144,1907
$GC,20415,1.05,234.8,578.8,5.8,979,20429,0.10,2.55,8.30,1.209,4,0.071,0.082,2935,841,1874
$GC,20447,0.99,234.8,576.5,7.4,980,20451,0.00,2.42,0.00,0.000,6,0.000,0.067,2935,2135,1874
$GC,20762,0.99,234.8,553.9,7.0,995,20764,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2135,1874
$GC,21072,0.95,234.8,531.7,6.6,1010,21077,0.12,2.47,0.00,0.000,4,0.098,0.077,2910,832,1874
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$STATE,27992,end climb,SURFACE_DEPTH_REACHED
$STATE,27992,begin surface coast
$FINISH,0.4,1.027279
$STATE,28056,end surface coast,CONTROL_FINISHED_OK
$STATE,28056,begin surface
$SM_CCo,28139,0.00,0.000,0,0,1703,276.94
$SM_GC,1.45,10.90,0.00,0.00,0.038,0.000,0.000,422,1957,1703,-10.39,-1.22,276.94
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1781
$TCM_TEMP,17.50
$XPDR_PINGS,438
$ALTIM_TOP_PING,18.8,999.0
$24V_AH,23.6,23.397
$10V_AH,10.1,10.706
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$DEVICE_SECS,24.375,212.175,376.975,0.000,0.000,37.761,31.252,219.963,118.500,0.000,0.000,12.917,2412.481,22108.268,573.928,2740.219,719.813,33.375,1944.868,0.000,2685.532,0.000,58.399,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1000.125,914.022,705.893,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69389,1349
$CAP_FILE_SIZE,193095,0
$CFSIZE,254472192,244871168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,76,0,0
$GPS,301108,023018,6127.523,-317.097,38,1.4,38,-6.2